Flexible clamping device

Abstract

The utility model belongs to the technical field of clamping, and discloses a flexible clamping device which comprises a collecting piece and a clamping piece, the collecting piece is provided with a collecting cavity, and the collecting cavity can be communicated with the outside; the number of the clamping pieces is multiple, the multiple clamping pieces are all connected to the collecting piece, and the multiple clamping pieces are arranged around a characteristic axis; each clamping piece is provided with a driving cavity communicating with the collecting cavity, and the end, away from the collecting piece, of each clamping piece is provided with a clamping finger. The clamping pieces are elastically deformed when the pressure in the driving cavity is smaller than the external pressure, and the clamping fingers of the multiple clamping pieces move away from the characteristic axis. The flexible clamping device provided by the utility model has higher reliability and safety.

Description

TECHNICAL FIELD

[0001] The utility model relates to clamping technical field especially relates to a flexible clamping device. BACKGROUND

[0002] In the process of manufacturing, the product needs to be gripped by a clamping device so as to process the structure on the product.

[0003] In the prior art, a finger cylinder or other clamping device can be used to clamp the product. The finger cylinder has high clamping strength and can meet the processing requirements of the product. The finger cylinder usually clamps the outer sidewall of the product, and when the outer sidewall of the product needs to be processed, the finger cylinder will block the processing area. To solve this problem, the two fingers of the finger cylinder can be inserted into the inner hole of the product to clamp the product. However, when the aperture of the inner hole of the product is small, in order to ensure that both fingers can be inserted into the inner hole, the fingers of the finger cylinder need to be very small, which will cause the fingers to deform during use, resulting in clamping failure. If the material of the fingers is selected as a hard material, the product may be damaged, which is not safe.

[0004] Therefore, there is an urgent need for a flexible clamping device to solve the above problems. SUMMARY

[0005] The utility model aims at providing a flexible clamping device to solve the technical problem of low safety in the prior art.

[0006] According to the above idea, the technical scheme adopted by the utility model is as follows:

[0007] The flexible clamping device comprises:

[0008] The collecting piece is provided with a collecting cavity which can communicate with the outside world.

[0009] A plurality of clamping pieces are connected to the collecting piece, and the plurality of clamping pieces are arranged around a characteristic axis. Each clamping piece is provided with a driving cavity which communicates with the collecting cavity. The end of the clamping piece away from the collecting piece is a finger. The clamping piece elastically deforms under the pressure in the driving cavity which is less than the external pressure, and the fingers of the plurality of clamping pieces move away from the characteristic axis.

[0010] In one embodiment, the outer sidewall of the clamping piece away from the characteristic axis is a first sidewall, and the sidewall of the clamping piece opposite to the other clamping pieces is a second sidewall.

[0011] The thickness of the first sidewall is less than that of the second sidewall, and / or the elastic modulus of the first sidewall is less than that of the second sidewall.

[0012] In one of the embodiments, the outer side wall of the clamping member away from the feature axis is a first side wall, and the outer side wall of the clamping member towards the feature axis is a third side wall.

[0013] The thickness of the first side wall is smaller than that of the third side wall; and / or, the elastic modulus of the first side wall is smaller than that of the third side wall.

[0014] In one of the embodiments, the clamping member comprises a plurality of driving portions, which are arranged at intervals in the axial direction of the clamping member; the driving cavity comprises a plurality of driving sub-cavities, which are arranged correspondingly to the driving portions, and the driving sub-cavities are in communication with each other and with the collecting cavity; the clamping fingers are connected to the driving portions farthest from the collecting member in the axial direction of the clamping member.

[0015] In one of the embodiments, two adjacent driving portions in the axial direction of the clamping member are connected by a first connecting portion, which is provided with a connecting channel for connecting the driving sub-cavities, and the cross-sectional area of the first connecting portion is smaller than that of the driving portions.

[0016] In one of the embodiments, the cross-sectional area of the driving portions gradually decreases in the direction away from the collecting member along the driving portions;

[0017] and / or,

[0018] the cross-sectional area of the driving portions gradually decreases in the direction away from the collecting member along the driving portions.

[0019] In one of the embodiments, the number of the driving portions of the adjacent clamping members is the same and one-to-one corresponding, and the corresponding two driving portions are arranged in the same layer.

[0020] In one of the embodiments, the clamping member is an integral structure formed integrally;

[0021] and / or,

[0022] The clamping member further comprises a transition portion connected between the driving portion and the clamping finger, and the cross-sectional area of the transition portion gradually decreases in the direction away from the driving portion along the transition portion.

[0023] In one of the embodiments, the collecting member comprises a core body and a collecting portion connected to the core body, the collecting portion and one end of the core body cooperatively form the collecting cavity, the other end of the core body is located outside the collecting portion, and the mounting port is arranged in the collecting portion.

[0024] The end of the clamping piece away from the fingers is connected to the core and / or the collecting part, and the axis of the core is collinear with the characteristic axis;

[0025] The outer side wall of the clamping piece away from the characteristic axis is a first side wall, the thickness of the first side wall is less than the thickness of the core, and / or the elastic modulus of the first side wall is less than the elastic modulus of the core;

[0026] The collecting piece and the clamping piece are in an integral structure.

[0027] In one of the embodiments, the flexible clamping device further comprises a connecting head, the collecting piece is provided with a mounting port, the connecting head is sealingly mounted in the mounting port, the connecting head is provided with a main channel and a plurality of lateral channels communicated with and intersecting with the main channel, the first channel port of the main channel on the connecting head is located on the surface of the connecting head exposed to the collecting piece; the second channel port of the lateral channel away from the main channel is located in the collecting cavity and is spaced apart along the circumference of the connecting head.

[0028] The flexible clamping device has the following beneficial effects:

[0029] The flexible clamping device provided by the utility model, the clamping piece is provided with fingers, and when the pressure in the driving cavity is less than the external pressure, the clamping piece can be elastically deformed, and the elastic deformation of the clamping piece makes the fingers move in the direction away from the characteristic axis, and then abut against the hole wall of the inner hole of the product, the elastic abutment of the fingers against the hole wall of the inner hole is realized by the elastic deformation of the clamping piece, and thus the risk of damaging the product is reduced, and the safety is higher; moreover, the entire clamping piece is elastically deformed, so that the fingers do not need to be elastically deformed or can have a small deformation, that is, the fingers do not need to be deformed, and thus the material of the fingers can be a hard material, and the problem of clamping failure due to deformation does not occur, and the reliability is higher.

[0030] In addition, each clamping piece is provided with a driving cavity, and the driving cavities of the plurality of clamping pieces are communicated with the collecting cavity, so that the vacuumization of the plurality of driving cavities can be realized by vacuumizing the collecting cavity, the pressure in the driving cavity is less than the external pressure, the vacuumization of each driving cavity is not needed, the number of components of the flexible clamping device can be less, the structural complexity of the flexible clamping device is reduced, and the structure of the flexible clamping device is simple. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the contents of the embodiments of the present application and the drawings.

[0032] Figure 1 is a first structural schematic view of the flexible clamping device provided by the embodiments of the present application;

[0033] Figure 2 is a second structural schematic view provided by the embodiments of the present application;

[0034] Figure 3 is a bottom view of the flexible clamping device provided by the embodiments of the present application;

[0035] Figure 4 is a top view of the flexible clamping device provided by the embodiments of the present application;

[0036] Figure 5 is an A-A sectional view shown in the embodiments of the present application; Figure 4

[0037] Figure 6 is a B-B sectional view shown in the embodiments of the present application; Figure 4

[0038] Figure 7 is a sectional view of the flexible clamping device provided by the embodiments of the present application;

[0039] Figure 8 is a front view of the flexible clamping device provided by the embodiments of the present application;

[0040] Figure 9 is a C-C sectional view shown in the embodiments of the present application; Figure 8

[0041] Figure 10 is a D-D sectional view shown in the embodiments of the present application; Figure 8

[0042] Figure 11 is an E-E sectional view shown in the embodiments of the present application; Figure 8

[0043] Figure 12 is an F-F sectional view shown in the embodiments of the present application; Figure 8

[0044] Figure 13 is a G-G sectional view shown in the embodiments of the present application; Figure 8 ​​​​​​​

[0045] Figure 14 The use state of the flexible clamping device is shown in the reference drawing.

[0046] In the drawing:

[0047] 100, collecting piece; 101, collecting cavity; 102, mounting port; 110, core; 120, collecting part; 200, clamping piece; 201, driving cavity; 2010, driving sub-cavity; 202, first side wall; 203, second side wall; 204, third side wall; 210, clamping finger; 220, driving part; 230, first connecting part; 231, connecting channel; 240, transition part; 250, second connecting part; 251, communicating channel; 300, connecting head; 310, main channel; 311, first channel port; 320, lateral channel; 321, second channel port; 400, gap; Z, characteristic axis; 1, product; 11, inner hole. DETAILED DESCRIPTION

[0048] In order to make the technical problems solved by the utility model, the technical scheme adopted and the technical effects reached more clear, the technical scheme of the utility model will be further explained below in combination with the drawings and through specific embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, but not limit the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings for the convenience of description, not all.

[0049] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the utility model. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily mean in the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0050] It should be noted that: similar signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0051] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include the first and second features in direct contact, or the first and second features not in direct contact but in contact through another feature between them. Moreover, the first feature "on", "above" and "on the surface of" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "under" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height. In the description of the present embodiment, "a plurality of" specifically refers to two or more than two, unless otherwise specified.

[0053] In the description of the present embodiment, the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and other orientation or positional relationships are based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0054] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element.

[0055] The technical scheme of the present application will be further illustrated below by specific embodiments in conjunction with the drawings.

[0056] The present embodiment provides a flexible clamping device for clamping products, which has high reliability and safety.

[0057] It should be noted that, as shown in Figure 14 The product 1 clamped by the flexible clamping device is a product 1 with an inner hole 11, that is, the flexible clamping device provided by the present embodiment is an inner support type clamping device.

[0058] Exemplarily, as shown in Figures 1 to 13As shown, the flexible clamping device includes a collection component 100 and multiple clamping components 200. The collection component 100 is provided with a collection cavity 101. The collection cavity 101 can communicate with the outside world, so that gas can be drawn out of the collection cavity 101 or filled into the collection cavity 101 by an external vacuum device. Optionally, the material of the collection component 100 in this embodiment can be a plastic material, a rubber material, a silicone material, or other elastic materials, and this embodiment does not limit this.

[0059] like Figure 1 As shown, multiple clamping members 200 are connected to the collecting member 100, and the multiple clamping members 200 are arranged around the characteristic axis Z. It should be noted that the characteristic axis Z is a virtual line defined for the convenience of illustrating the structure in this embodiment, and is not a real line. Each clamping member 200 is provided with a driving cavity 201 that communicates with the collecting cavity 101. That is, a channel is provided at the connection position between the clamping member 200 and the collecting member 100, and the collecting cavity 101 and the driving cavity 201 are connected through the channel, so that the gas in the collecting cavity 101 can communicate with the gas in the driving cavity 201. When the gas in the collecting cavity 101 is pumped out, the collecting cavity 101 and each driving cavity 201 are in a negative pressure state.

[0060] Exemplarily, the top of the clamp 200 is connected to the assembly 100, and, as Figure 2 and Figure 3 As shown, the end of the clamping member 200 away from the assembly member 100 is a clamping finger 210, which is used to contact the product 1 (see reference). Figure 14 Specifically, the gripper fingers 210 are used to extend into the inner hole 11 of the product 1. In this embodiment, the gripper 200 is an elastic structure formed by an elastic material and a drive cavity 201, allowing the gripper 200 to undergo elastic deformation. Specifically, when the pressure inside the drive cavity 201 is less than the external pressure, the gripper 200 undergoes elastic deformation, and the direction of the elastic deformation of the gripper 200 satisfies the movement of the gripper fingers 210 away from the characteristic axis Z, so that the gripper fingers 210 can move towards the hole wall of the inner hole 11, thereby making close contact with the hole wall of the inner hole 11. Through the friction between the gripper fingers 210 and the hole wall of the inner hole 11, the product 1 is internally supported, thereby achieving the gripping of the product 1.

[0061] In the embodiment, by arranging multiple clamping pieces 200, the contact area between the flexible clamping device and the inner hole 11 is increased, thereby improving the strength and reliability of the product 1. Moreover, the specific movement of each clamping piece 200 away from the characteristic axis Z can be small, avoiding the problem of needing to reduce the size of the clamping fingers 210 due to excessive movement displacement, thereby affecting the strength of the clamping structure and ensuring the service life of the flexible clamping device. Moreover, the multiple clamping pieces 200 are arranged around the characteristic axis Z, so that the multiple clamping fingers 210 can also be arranged around the characteristic axis Z, thereby making the contact points of the multiple clamping fingers 210 with the hole wall of the inner hole 11 distributed along the circumference of the inner hole 11, improving the uniformity of the force on the product 1, reducing the risk of tilting of the product 1 during processing due to uneven force, and thereby ensuring the accuracy of processing the product 1.

[0062] The flexible clamping device provided in the embodiment, the clamping piece 200 is provided with a clamping finger 210, and when the pressure in the driving cavity 201 is less than the external pressure, the clamping piece 200 can be elastically deformed, and the elastic deformation of the clamping piece 200 causes the clamping finger 210 to move away from the characteristic axis Z, thereby abutting against the hole wall of the inner hole 11 of the product 1. The elastic deformation of the clamping piece 200 enables the clamping finger 210 to elastically abut against the hole wall of the inner hole 11, thereby reducing the risk of damaging the product 1 and improving safety. Moreover, the entire clamping piece 200 is elastically deformed, so that the clamping finger 210 does not need to be elastically deformed or can have a small deformation, that is, there is no requirement for the clamping finger 210 to deform, and therefore the material of the clamping finger 210 can be a hard material, which avoids the problem of clamping failure due to deformation and improves reliability.

[0063] In addition, each clamping piece 200 is provided with a driving cavity 201, and the driving cavities 201 of the multiple clamping pieces 200 are communicated with the collecting cavity 101, so that vacuumizing the collecting cavity 101 can achieve vacuumizing the multiple driving cavities 201, thereby achieving the purpose of the pressure in the driving cavity 201 being less than the external pressure, without the need to vacuumize each driving cavity 201 separately, so that the number of components of the flexible clamping device can be reduced, the structural complexity of the flexible clamping device is reduced, and the structure of the flexible clamping device is simple.

[0064] It should be noted that the clamping piece 200 can be provided with two or more than two. When the clamping piece 200 is provided with two, the two clamping pieces 200 are symmetrically arranged with the plane in which the characteristic axis Z is located as the symmetry plane. When the clamping piece 200 is provided with more than two, the more than two clamping pieces 200 are uniformly distributed around the characteristic axis Z. In the embodiment, the clamping piece 200 is provided with three, and the included angle between the two walls of each clamping piece 200 in the circumferential direction of the characteristic axis Z is about 120°.

[0065] In some optional embodiments, the elastic deformation of the clamping piece 200 causing the clamping fingers 210 to move away from the feature axis Z can be considered as the elastic deformation of the clamping piece 200 in a specific direction. The manner of causing the elastic deformation of the clamping piece 200 in a specific direction can be various.

[0066] In one of the embodiments, as shown in Figure 6 the outer side wall of the clamping piece 200 away from the feature axis Z is a first side wall 202, which can be considered as the outer wall of the clamping piece 200 exposed without being blocked by other structures. Since the clamping piece 200 is a structure with an inner cavity, the first side wall 202 has a certain thickness. As shown in Figure 13 the side wall of the clamping piece 200 opposite to other clamping pieces 200 is a second side wall 203. The second side wall 203 can be understood as the wall of the outer wall of the clamping piece 200 blocked by the adjacent clamping piece 200, and the second side wall 203 is the side wall arranged opposite to other clamping pieces 200 in the arrangement direction of the plurality of clamping pieces 200. Since the clamping piece 200 is a structure with an inner cavity, the second side wall 203 has a certain thickness. Among them, the thickness of the first side wall 202 is less than the thickness of the second side wall 203. Since the smaller the wall thickness, the greater the deformation under external force, and the greater the wall thickness, the smaller the deformation under external force. By controlling the thickness relationship between the first side wall 202 and the second side wall 203, when the vacuum / negative pressure in the driving cavity 201, the clamping piece 200 generates an outward tension, specifically, the first side wall 202 is recessed or deformed towards the inside of the driving cavity 201, and the deformation amplitude of the first side wall 202 is greater than that of the second side wall 203, therefore, the clamping fingers 210 of the clamping piece 200 will move away from the feature axis Z under the traction of the first side wall 202, realize the opening of the clamping fingers 210, and realize the clamping function. When the air pressure in the driving cavity 201 returns to the standard atmospheric pressure, the outward tension of the first side wall 202 of the clamping piece 200 disappears, and since the clamping piece 200 is an elastic structure, the clamping piece 200 returns to the original state under the action of the elastic force.

[0067] It is understandable that not only thickness affects structural deformation, but also the elastic modulus of the structure. In other embodiments, the outer sidewall of the clamping member 200 away from the characteristic axis Z is the first sidewall 202, and the sidewall of the clamping member 200 opposite to other clamping members 200 is the second sidewall 203. The elastic modulus of the first sidewall 202 is less than that of the second sidewall 203. The elastic modulus refers to the proportional relationship between stress and strain in the elastic deformation stage of a material (i.e., conforming to Hooke's Law), and its proportionality coefficient is called the elastic modulus. It is evident that the elastic modulus is related to the material of the structure. The fact that the elastic modulus of the first sidewall 202 is less than that of the second sidewall 203 indicates that when subjected to the same external force, the elastic deformation amplitude of the first sidewall 202 will be greater than that of the second sidewall 203. Therefore, it is also possible to achieve the purpose of moving the clamping finger 210 away from the characteristic axis Z, thus achieving the gripping of the product 1.

[0068] In one possible implementation, if the cross-section of the clamping member 200 is triangular, fan-shaped, or the like, that is, the end of the clamping member 200 facing the characteristic axis Z is an angle, then the clamping member 200 may only include the first sidewall 202 and the second sidewall 203, and there are two second sidewalls 203, while there may be one first sidewall 202.

[0069] In other possible implementations, the end of the clamping member 200 facing the feature axis Z may not be an edge, but a plane. Specifically, the outer sidewall of the clamping member 200 facing away from the feature axis Z is a first sidewall 202, such as... Figure 6 As shown, the outer sidewall of the clamping member 200 facing the characteristic axis Z is the third sidewall 204. It can be understood that when the clamping member 200 includes the third sidewall 204, the clamping member 200 also includes a second sidewall 203, which connects the first sidewall 202 and the third sidewall 204.

[0070] In one embodiment, the thickness of the first sidewall 202 is less than the thickness of the third sidewall 204. With this configuration, when the drive cavity 201 is under vacuum or negative pressure, the deformation of the first sidewall 202 is greater than the deformation of the third sidewall 204, thereby enabling the gripping fingers 210 of the multiple gripping members 200 to open and grasp the product 1.

[0071] In other embodiments, the elastic modulus of the first sidewall 202 is less than that of the third sidewall 204. This arrangement can also achieve the goal of the deformation range of the first sidewall 202 being less than that of the third sidewall 204, and this embodiment does not limit this.

[0072] In some alternative embodiments, such as Figure 5As shown, the clamping piece 200 comprises a plurality of driving portions 220. The plurality of driving portions 220 are arranged at intervals in the axial direction of the clamping piece 200. Among them, the axial direction of the clamping piece 200 is the same as the extension direction of the characteristic axis Z. And the driving cavity 201 comprises a plurality of driving sub-cavities 2010, which correspond to the plurality of driving portions 220 one by one, and the driving sub-cavities 2010 are arranged correspondingly in the driving portions 220, that is, each driving portion 220 has a driving sub-cavity 2010. The plurality of driving sub-cavities 2010 are in communication with each other and with the collection cavity 101, so that vacuumizing the collection cavity 101 can realize vacuumizing each driving sub-cavity 2010.

[0073] In this embodiment, by arranging a plurality of driving portions 220, the clamping piece 200 can deform elastically, and each driving portion 220 deforms as a separate deformation component, that is, each driving portion 220 has a first side wall 202. In this way, each driving portion 220 can deform to a certain extent, thereby ensuring that the moving distance of the clamping fingers 210 meets the requirements, facilitating the control of the deformation amplitude of the clamping piece 200, and improving the reliability and stability of the clamping piece 200. It should be noted that the clamping fingers 210 are connected to the driving portion 220 farthest from the collection piece 100 in the axial direction of the clamping piece 200.

[0074] Of course, it can be understood that the clamping piece 200 can also not be composed of a plurality of driving portions 220, which is not limited in this embodiment.

[0075] When the clamping piece 200 comprises a plurality of driving portions 220, optionally, as shown in Figure 5 or Figure 7 In the axial direction of the clamping piece 200, the two adjacent driving portions 220 are connected by a first connecting portion 230, and the first connecting portion 230 is provided with a connecting channel 231 connecting the two adjacent driving sub-cavities 2010, so as to realize the communication between the driving sub-cavities 2010. By arranging the first connecting portion 230, the connection between the driving portions 220 and the communication between the driving sub-cavities 2010 are realized.

[0076] And, the cross-sectional area of the first connecting portion 230 is smaller than the cross-sectional area of the driving portion 220. The cross-section of the first connecting portion 230 is perpendicular to the axial direction of the clamping piece 200. By designing the size of the first connecting portion 230 to be smaller than the size of the driving portion 220, the driving portions 220 can be relatively independent, and the deformation of each driving portion 220 can be satisfied, and the mutual influence between the driving portions 220 can be avoided. In addition, when the driving portion 220 is elastically deformed, the end of the driving portion 220 away from the characteristic axis Z moves close to the driving portion 220 above it. Due to the presence of the first connecting portion 230, the driving portions 220 have a gap 400 therebetween, and the movement space of the end of the driving portion 220 away from the characteristic axis Z is provided, and the deformation range of the entire clamping piece 200 is ensured, and the elastic abutment of the clamping fingers 210 with the hole wall of the inner hole 11 is ensured.

[0077] In some optional embodiments, as shown in Figure 5 The second connecting portion 250 has a communication channel 251 for communicating the driving sub-cavity 2010 of the driving portion 220 with the collection cavity 101 of the collection piece 100.

[0078] In this embodiment, the cross-sectional area of the second connecting portion 250 in the axial direction of the clamping piece 200 is smaller than the cross-sectional area of the driving portion 220 in the axial direction of the clamping piece 200, and smaller than the cross-sectional area of the collection piece 100 in the axial direction of the clamping piece 200. In this way, a gap is provided between the collection piece 100 and the driving portion 220, and movement space is provided for the movement of the driving portion 220, and the deformation range of the entire clamping piece 200 is ensured, and the elastic abutment of the clamping fingers 210 with the hole wall of the inner hole 11 is ensured.

[0079] In some optional embodiments, the structure formed by the combination of the plurality of clamping pieces 200 can be conical, that is, as shown in Figure 8 In the direction away from the collection piece 100, the cross-sectional area of the plurality of driving portions 220 gradually decreases, that is, the farther away from the collection piece 100, the smaller the cross-sectional area of the driving portion 220. It should be noted that the cross-section of the driving portion 220 is perpendicular to the length direction of the clamping piece 200. In this way, the size of the driving portion 220 connected with the collection piece 100 can be larger, and the connection strength between the collection piece 100 and the driving portion 220 is improved; and the size of the driving portion 220 farthest away from the collection piece 100 is smaller, and the size of the clamping finger 210 is also smaller, facilitating the connection between the clamping finger 210 and the driving portion 220, and reducing the interference or shielding between the driving portion 220 and the product 1, and reducing the difficulty of processing the product 1.

[0080] Exemplarily, the driving portion 220 can be an equal cross-section structure in the axial direction of the clamping member 200. Alternatively, the driving portion 220 can also be a variable cross-section structure in the axial direction of the clamping member 200, which is not limited in the present embodiment.

[0081] Optionally, when the driving portion 220 is a variable cross-section structure in the axial direction of the clamping member 200, the cross-sectional area of the driving portion 220 gradually decreases in the direction of the clamping portion away from the gathering member 100, that is, the driving portion 220 is a structure of large up and small down. In this way, the driving portion 220 as a whole presents an inverted trapezoidal structure, which is beneficial to the elastic deformation of the driving portion 220. It should be noted that the cross-sectional area of each driving portion 220 gradually decreases in the direction of the clamping portion away from the gathering member 100.

[0082] In some optional embodiments, the outer wall of the driving portion 220 towards the other driving portion 220 is a fourth side wall (not shown in the figure), and the outer wall of the driving portion 220 away from the characteristic axis Z is the first side wall 202. In the present embodiment, the thickness of the fourth side wall is greater than the thickness of the first side wall 202, or the elastic modulus of the fourth side wall is greater than the elastic modulus of the first side wall 202, so that the first side wall 202 of the driving portion 220 has a greater deformation range than the fourth side wall, thereby achieving smooth opening of the plurality of clamping fingers 210.

[0083] Optionally, the thickness of the first side wall 202 of the driving portion 220 can be equal to the thickness of the outer wall of the first connecting portion 230 away from the characteristic axis Z, that is, part of the first side wall 202 of the clamping member 200 forms the side wall of the driving portion 220, and the other part forms the side wall of the first connecting portion 230, thereby achieving that the outer wall of the first connecting portion 230 and the first side wall 202 of the driving portion 220 deform at the same time when the clamping member 200 deforms.

[0084] In some optional embodiments, the structures of the plurality of clamping members 200 are completely the same, so that the force applied by each clamping member 200 to the product 1 is the same, thereby improving the balance of the force received by the product 1 and improving the effect of grabbing the product 1.

[0085] In the present embodiment, in order to ensure that the deformation range of each clamping member 200 is the same, as shown in Figure 5 the number of the driving portions 220 of the plurality of clamping members 200 is the same, and the driving portions 220 of the two adjacent clamping members 200 correspond to each other, the corresponding two driving portions 220 are arranged in the same layer, that is, the heights of the corresponding driving portions 220 are the same. In this way, the deformation positions of the clamping members 200 can be the same, thereby making the moving distances of the plurality of clamping fingers 210 away from the characteristic axis Z the same, which is beneficial to the centering of the flexible clamping device and the inner hole 11, thereby improving the effect of grabbing the product 1.

[0086] In an embodiment, the two corresponding driving portions 220 are identical in shape, so as to ensure that the deformation range of the corresponding driving portions 220 is limited, and the flexible clamping device has a better appearance.

[0087] In order to improve the connection effect of the driving portion 220 and the clamping finger 210, the clamping member 200 further includes a transition portion 240, as shown in the figure. Figure 2 The transition portion 240 is connected between the driving portion 220 and the clamping finger 210, that is, one end of the transition portion 240 is connected to the driving portion 220 farthest from the collecting member 100, and the other end of the transition portion 240 is connected to the clamping finger 210. In the direction away from the driving portion 220 along the transition portion 240, the cross-sectional area of the transition portion 240 gradually decreases, that is, the transition portion 240 is tapered. By arranging the transition portion 240, the connection strength of the driving portion 220 and the clamping finger 210 can be improved, so that the end of the driving portion 220 close to the clamping finger 210 does not need to be arranged too small. By arranging the transition portion 240 as a variable cross-section structure, the problem of strength reduction caused by the sudden change of the cross-section of the clamping member 200 from the driving portion 220 to the clamping finger 210 is avoided, and the structural strength of the clamping member 200 is further improved, and the risk of fracture is reduced.

[0088] Optionally, the clamping member 200 in the embodiment is an integrated structure formed integrally, that is, the driving portion 220, the transition portion 240 and the clamping finger 210 are formed integrally, so that the sealing performance of the driving cavity 201 can be ensured.

[0089] In order to improve the connection strength of the clamping member 200 and the collecting member 100, the collecting member 100 includes a core 110 and a collecting portion 120 connected to the core 110 in the embodiment. The collecting portion 120 and the core 110 cooperate to form the collecting cavity 101. In the embodiment, one end of the core 110 is located in the collecting portion 120 and cooperates with the collecting portion 120 to form the collecting cavity 101, and the other end of the core 110 extends out of the collecting portion 120. The clamping member 200 is connected to the core 110 and / or the collecting portion 120, and the axis of the core 110 is collinear with the characteristic axis Z. By arranging the core 110, the connection area of the clamping member 200 and the collecting member 100 is increased, and the connection strength of the clamping member 200 and the collecting member 100 is improved, and the probability of separation is reduced.

[0090] It should be noted that the plurality of clamping members 200 are arranged along the circumference of the core 110 and connected to the core 110. Specifically, one end of the clamping member 200 away from the clamping finger 210 is connected to the core 110, and the bottom of the clamping member 200 is not connected to the core 110, so as to facilitate the deformation of the clamping portion and the reset after deformation.

[0091] Of course, it can be understood that the assembly 100 can also not include the core 110, at which time the clamping member 200 is directly connected with the bottom surface of the assembly 100.

[0092] In some optional embodiments, the assembly 100 and the clamping member 200 are integrated, avoiding the problem of sealing failure at the connection position. It should be noted that the wall thickness of the assembly 120 is greater than the wall thickness of the first side wall 202, or the elastic modulus of the assembly 120 is greater than the elastic modulus of the first side wall 202. In this way, the amplitude of the elastic deformation of the assembly 100 is reduced.

[0093] It should be noted that the thickness of the core 110 is greater than the thickness of the first side wall 202, and the elastic modulus of the core 110 is greater than the elastic modulus of the first side wall 202. In this way, the core 110 can serve as a support structure for the assembly 100 and the clamping member 200 as a whole, allowing each clamping member 200 to deform and reset smoothly without causing excessive deformation of a certain clamping member 200 due to deformation of the core 110, thereby improving the clamping effect of the product 1.

[0094] In some optional embodiments, as shown in Figure 1 As shown in Figure 5 The assembly 100 is provided with a mounting port 102, which is arranged at the top, bottom or side wall of the assembly 100, and the present embodiment is not limited in this regard. Alternatively, the mounting port 102 can be provided with one or more, which can be arranged according to actual needs. In the present embodiment, the mounting port 102 is arranged at the top of the assembly 100.

[0095] The connection head 300 is sealingly mounted in the mounting port 102. For example, the connection head 300 can be sealingly mounted in the mounting port 102 by means of glue, a sealing ring or the like, and the present embodiment is not limited in this regard. As shown in Figure 5 and Figure 9 The connection head 300 is provided with a main channel 310 and a plurality of lateral channels 320 communicating with the main channel 310 and intersecting the main channel 310. As shown in Figure 1 The first channel port 311 of the main channel 310 on the connection head 300 is located on the surface of the connection head 300 exposed to the assembly 100; as shown in Figure 7 The second channel port 321 of the lateral channel 320 facing away from the main channel 310 is located in the assembly cavity 101 and is arranged in a circumferential direction along the connection head 300. By providing a plurality of lateral channels 320, on the one hand, the area of the inlet of the connection head 300 and the assembly cavity 101 can be increased, thereby improving the pumping efficiency when the assembly cavity 101 is pumped; on the other hand, the uniformity of pumping can also be improved, so that a plurality of clamping members 200 can deform simultaneously.

[0096] The flexible clamping device provided by the embodiment comprises a collecting part 100 and a clamping part 200. The elastic clamping part 200 has a wave-shaped or butterfly-shaped driving part 220 and a plurality of relatively independent driving sub-cavities 2010. The first side wall 202 of the clamping part 200 is larger than the second side wall 203 and the third side wall 204, so that when the clamping part 200 is subjected to negative pressure within 10 bar, the contraction amount of the first side wall 202 is greater than that of the second side wall 203 and the third side wall 204, thereby generating an outward opening force of the relatively independent clamping fingers 210, and the clamping force acts on the product 1 (for example, a small indexable tool), thereby achieving the grabbing function of the product 1.

[0097] It should be noted that the above are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A flexible gripping device, characterized in that The utility model relates to a kind of collection device, comprising: Collection device (100), the collection device (100) is provided with collection cavity (101), the collection cavity (101) can communicate with outside; Clamp (200) is provided with multiple, multiple described clamping piece (200) is connected to the collection device (100), and multiple described clamping piece (200) is arranged around characteristic axis (Z);Each described clamping piece (200) is provided with the drive cavity (201) being communicated with the collection cavity (101), and the end of the clamping piece (200) away from the collection device (100) is finger (210);The clamping piece (200) is elastically deformed under the pressure less than outside pressure in the drive cavity (201), and the finger (210) of multiple described clamping piece (200) moves away from the characteristic axis (Z).

2. The flexible gripping device of claim 1, wherein, The outer side wall of the clamping piece (200) away from the characteristic axis (Z) is the first side wall (202), and the side wall opposite to the other clamping piece (200) of the clamping piece (200) is the second side wall (203); The thickness of the first side wall (202) is less than the thickness of the second side wall (203);And / or, the elastic modulus of the first side wall (202) is less than the elastic modulus of the second side wall (203).

3. The flexible clamp device of claim 1, wherein, The outer side wall of the clamping piece (200) away from the characteristic axis (Z) is the first side wall (202), and the outer side wall of the clamping piece (200) towards the characteristic axis (Z) is the third side wall (204); The thickness of the first side wall (202) is less than the thickness of the third side wall (204);And / or, the elastic modulus of the first side wall (202) is less than the elastic modulus of the third side wall (204).

4. The flexible clamp device of claim 1, wherein, The clamping piece (200) includes multiple drive parts (220), and multiple drive parts (220) are arranged at intervals in the axial direction of the clamping piece (200);The drive cavity (201) includes multiple drive sub-cavities (2010), and the drive sub-cavities (2010) are correspondingly arranged in the drive parts (220), multiple drive sub-cavities (2010) are communicated with each other and with the collection cavity (101);The finger (210) is connected to the drive part (220) farthest from the collection device (100) in the axial direction of the clamping piece (200).

5. The flexible gripping device of claim 4, wherein, Two adjacent drive parts (220) in the axial direction of the clamping piece (200) are connected by a first connecting part (230), the first connecting part (230) is provided with a connecting channel (231) communicating the drive sub-cavities (2010), and the cross-sectional area of the first connecting part (230) is less than the cross-sectional area of the drive part (220).

6. The flexible clamp device of claim 4, wherein, In the direction of the drive part (220) away from the collection device (100), the cross-sectional area of multiple drive parts (220) gradually decreases; And / or, In the direction of the drive part (220) away from the collection device (100), the cross-sectional area of the drive part (220) gradually decreases.

7. The flexible clamp device of claim 4, wherein, The driving parts (220) of two adjacent clamping pieces (200) are same in number and one-to-one corresponding, and the corresponding two driving parts (220) are arranged in the same layer.

8. The flexible gripping device according to any one of claims 4-7, characterized in that, The clamping piece (200) is an integral structure formed integrally; And / or, The clamping piece (200) further comprises a transition part (240) connected between the driving part (220) and the clamping finger (210), and the cross-sectional area of the transition part (240) gradually decreases in the direction away from the driving part (220).

9. The flexible gripping device according to any one of claims 1-7, wherein, The collecting piece (100) comprises a core body (110) and a collecting part (120) connected to the core body (110), and the collecting part (120) and one end of the core body (110) cooperatively form the collecting cavity (101), and the other end of the core body (110) is located outside the collecting part (120); The end of the clamping piece (200) away from the clamping finger (210) is connected to the core body (110) and / or the collecting part (120), and the axis of the core body (110) is collinear with the characteristic axis (Z); The outer side wall of the clamping piece (200) away from the characteristic axis (Z) is a first side wall (202), the thickness of the first side wall (202) is less than the thickness of the core body (110), and / or the elastic modulus of the first side wall (202) is less than the elastic modulus of the core body (110); The collecting piece (100) and the clamping piece (200) are an integral structure.

10. The flexible gripping device according to any one of claims 1-7, wherein, The flexible clamping device further comprises a connecting head (300), the collecting piece (100) is provided with a mounting port (102), the connecting head (300) is sealingly mounted in the mounting port (102), the connecting head (300) is provided with a main channel (310) and a plurality of lateral channels (320) communicated with the main channel (310) and intersecting with the main channel (310), the first channel port (311) of the main channel (310) on the connecting head (300) is located on the surface of the connecting head (300) exposed to the collecting piece (100); the second channel port (321) of the lateral channel (320) away from the main channel (310) is located in the collecting cavity (101), and is arranged in the circumferential direction of the connecting head (300).

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